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Wang N, Hou Y, Lin L, Xu S, Lee K, Yang Y, Chen Y, Li Y, Wang X, Wang Y, Chen T. Advanced Microarrays as Heterogeneous Force-Remodeling Coordinator to Orchestrate Nuclear Configuration and Force-Sensing Mechanotransduction in Stem Cells. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2025; 12:e2416482. [PMID: 39951286 PMCID: PMC11984837 DOI: 10.1002/advs.202416482] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/09/2024] [Revised: 01/24/2025] [Indexed: 04/12/2025]
Abstract
Integrin and focal adhesion can regulate cytoskeleton distribution to govern actin-related force remodeling and play an important role in nuclear configuration and force-sensing mechanotransduction of stem cells. However, further exploration of the interaction between actinin complex and myosin, kinetics, and molecular mechanism of cytoskeleton structures to nucleate within the engineered stem cells is vague. An extensive comprehension of cell morphogenesis, force remodeling, and nuclear force-sensing mechanotransduction is essential to reveal the basic physical principles of cytoskeleton polymerization and force-related signaling delivery. Advanced microarrays are designed to determine heterogeneous cell morphology and cell adhesion behaviors in stem cells. The heterogeneity from the engineered microarrays is transferred into nuclei to regulate nuclear configuration and force-sensing mechanotransduction by the evaluation of Lamins, YAP, and BrdU expression. Tuning the activation of adhesion proteins and cytoskeleton nucleators to adjust heterogeneous cell mechanics may be the underlying mechanism to change nuclear force-sensing configuration in response to its physiological mechanotransduction in microarrayed stem cells.
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Affiliation(s)
- Nana Wang
- Department of Orthopedic SurgeryThe First Affiliated Hospital of Zhengzhou UniversityZhengzhou450052China
- Department of PediatricsShanghai General HospitalShanghai Jiao Tong UniversityShanghai200080China
| | - Yan Hou
- School of MedicineShanghai UniversityShanghai200444China
| | - Lili Lin
- Department of PediatricsShanghai General HospitalShanghai Jiao Tong UniversityShanghai200080China
| | - Shihui Xu
- School of MedicineShanghai UniversityShanghai200444China
| | - Kyubae Lee
- Department of Biomedical MaterialsKonyang UniversityDaejeon35365Republic of Korea
| | - Yingjun Yang
- Materials Institute of Atomic and Molecular ScienceShaanxi University of Science and TechnologyXi'an710021China
| | - Yazhou Chen
- Henan Institute of Advanced TechnologyZhengzhou UniversityZhengzhou450003China
| | - Yachun Li
- Department of PediatricsShanghai General HospitalShanghai Jiao Tong UniversityShanghai200080China
| | - Xiuhui Wang
- Institute of Translational MedicineShanghai UniversityShanghai200444China
| | - Yongtao Wang
- School of MedicineShanghai UniversityShanghai200444China
| | - Tao Chen
- Department of Orthopedic SurgeryThe First Affiliated Hospital of Zhengzhou UniversityZhengzhou450052China
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2
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Bighi B, Ragazzini G, Gallerani A, Mescola A, Scagliarini C, Zannini C, Marcuzzi M, Olivi E, Cavallini C, Tassinari R, Bianchi M, Corsi L, Ventura C, Alessandrini A. Cell stretching devices integrated with live cell imaging: a powerful approach to study how cells react to mechanical cues. PROGRESS IN BIOMEDICAL ENGINEERING (BRISTOL, ENGLAND) 2024; 7:012005. [PMID: 39655854 DOI: 10.1088/2516-1091/ad9699] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/29/2024] [Accepted: 11/20/2024] [Indexed: 12/18/2024]
Abstract
Mechanical stimuli have multiple effects on cell behavior, affecting a number of cellular processes including orientation, proliferation or apoptosis, migration and invasion, the production of extracellular matrix proteins, the activation and translocation of transcription factors, the expression of different genes such as those involved in inflammation and the reprogramming of cell fate. The recent development of cell stretching devices has paved the way for the study of cell reactions to stretching stimuliin-vitro, reproducing physiological situations that are experienced by cells in many tissues and related to functions such as breathing, heart beating and digestion. In this work, we review the highly-relevant contributions cell stretching devices can provide in the field of mechanobiology. We then provide the details for the in-house construction and operation of these devices, starting from the systems that we already developed and tested. We also review some examples where cell stretchers can supply meaningful insights into mechanobiology topics and we introduce new results from our exploitation of these devices.
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Affiliation(s)
- Beatrice Bighi
- Department of Physics, Informatics and Mathematics, University of Modena and Reggio Emilia, via Campi 213/A, 41125 Modena, Italy
- CNR-Nanoscience Institute-S3, via Campi 213/A, 41125 Modena, Italy
| | | | - Alessia Gallerani
- Department of Physics, Informatics and Mathematics, University of Modena and Reggio Emilia, via Campi 213/A, 41125 Modena, Italy
| | - Andrea Mescola
- CNR-Nanoscience Institute-S3, via Campi 213/A, 41125 Modena, Italy
| | - Chiara Scagliarini
- Department of Physics, Informatics and Mathematics, University of Modena and Reggio Emilia, via Campi 213/A, 41125 Modena, Italy
| | - Chiara Zannini
- Eldor Lab, via di Corticella 183, 40128 Bologna, Italy
- National Laboratory of Molecular Biology and Stem Cell Engineering, National Institute of Biostructures and Biosystems (I.N.B.B.), via di Corticella 183, 40128 Bologna, Italy
| | - Martina Marcuzzi
- Department of Medical and Surgical Sciences, University of Bologna, via G. Massarenti 9, Bologna 40138, Italy
| | - Elena Olivi
- Eldor Lab, via di Corticella 183, 40128 Bologna, Italy
| | - Claudia Cavallini
- Eldor Lab, via di Corticella 183, 40128 Bologna, Italy
- National Laboratory of Molecular Biology and Stem Cell Engineering, National Institute of Biostructures and Biosystems (I.N.B.B.), via di Corticella 183, 40128 Bologna, Italy
| | | | - Michele Bianchi
- Department of Life Sciences, University of Modena and Reggio Emilia, Via G. Campi 287, 41125 Modena, Italy
| | - Lorenzo Corsi
- Department of Life Sciences, University of Modena and Reggio Emilia, Via G. Campi 287, 41125 Modena, Italy
| | - Carlo Ventura
- Eldor Lab, via di Corticella 183, 40128 Bologna, Italy
- National Laboratory of Molecular Biology and Stem Cell Engineering, National Institute of Biostructures and Biosystems (I.N.B.B.), via di Corticella 183, 40128 Bologna, Italy
| | - Andrea Alessandrini
- Department of Physics, Informatics and Mathematics, University of Modena and Reggio Emilia, via Campi 213/A, 41125 Modena, Italy
- CNR-Nanoscience Institute-S3, via Campi 213/A, 41125 Modena, Italy
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Saeed MH, Choi MY, Kim K, Lee JH, Kim K, Kim D, Kim SU, Kim H, Ahn SK, Lan R, Na JH. Electrostatically Powered Multimode Liquid Crystalline Elastomer Actuators. ACS APPLIED MATERIALS & INTERFACES 2023; 15:56285-56292. [PMID: 37991738 DOI: 10.1021/acsami.3c13140] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/23/2023]
Abstract
Soft actuators based on liquid crystalline elastomers (LCEs) are captivating significant interest because of their unique properties combining the programmable liquid crystalline molecular order and elasticity of polymeric materials. For practical applications, the ability to perform multimodal shape changes in a single LCE actuator at a subsecond level is a bottleneck. Here, we fabricate a monodomain LCE powered by electrostatic force, which enables fast multidirectional bending, oscillation, rotation, and complex actuation with a high degree of freedom. By tuning the dielectric constant and resistivity in LCE gels, a complete cycle of oscillation and rotation only takes 0.1 s. In addition, monodomain actuators exhibit anisotropic actuation behaviors that promise a more complex deployment in a potential electromechanical system. The presented study will pave the way for electrostatically controllable isothermal manipulation for a fast and multimode soft actuator.
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Affiliation(s)
- Mohsin Hassan Saeed
- Department of Electrical, Electronics and Communication Engineering Education, Chungnam National University, Daejeon 34134, Republic of Korea
| | - Moon-Young Choi
- Department of Convergence System Engineering, Chungnam National University, Daejeon 34134, Republic of Korea
| | - Kitae Kim
- Department of Convergence System Engineering, Chungnam National University, Daejeon 34134, Republic of Korea
| | - Jin-Hyeong Lee
- School of Chemical Engineering, Pusan National University, Busan 46241, Republic of Korea
| | - Keumbee Kim
- School of Chemical Engineering, Pusan National University, Busan 46241, Republic of Korea
| | - Dowon Kim
- Department of Electrical, Electronics and Communication Engineering Education, Chungnam National University, Daejeon 34134, Republic of Korea
| | - Se-Um Kim
- Department of Electrical and Information Engineering, Seoul National University of Science and Technology, Seoul 01811, Republic of Korea
| | - Hyun Kim
- Advanced Materials Division, Korea Research Institute of Chemical Technology, Daejeon 34114, Republic of Korea
| | - Suk-Kyun Ahn
- School of Chemical Engineering, Pusan National University, Busan 46241, Republic of Korea
- Department of Polymer Science and Engineering, Pusan National University, Busan 46241, Republic of Korea
| | - Ruochen Lan
- Institute of Advanced Materials, Jiangxi Normal University, Nanchang 330022, China
| | - Jun-Hee Na
- Department of Electrical, Electronics and Communication Engineering Education, Chungnam National University, Daejeon 34134, Republic of Korea
- Department of Convergence System Engineering, Chungnam National University, Daejeon 34134, Republic of Korea
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Dow LP, Parmar T, Marchetti MC, Pruitt BL. Engineering tools for quantifying and manipulating forces in epithelia. BIOPHYSICS REVIEWS 2023; 4:021303. [PMID: 38510344 PMCID: PMC10903508 DOI: 10.1063/5.0142537] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/14/2023] [Accepted: 04/20/2023] [Indexed: 03/22/2024]
Abstract
The integrity of epithelia is maintained within dynamic mechanical environments during tissue development and homeostasis. Understanding how epithelial cells mechanosignal and respond collectively or individually is critical to providing insight into developmental and (patho)physiological processes. Yet, inferring or mimicking mechanical forces and downstream mechanical signaling as they occur in epithelia presents unique challenges. A variety of in vitro approaches have been used to dissect the role of mechanics in regulating epithelia organization. Here, we review approaches and results from research into how epithelial cells communicate through mechanical cues to maintain tissue organization and integrity. We summarize the unique advantages and disadvantages of various reduced-order model systems to guide researchers in choosing appropriate experimental systems. These model systems include 3D, 2D, and 1D micromanipulation methods, single cell studies, and noninvasive force inference and measurement techniques. We also highlight a number of in silico biophysical models that are informed by in vitro and in vivo observations. Together, a combination of theoretical and experimental models will aid future experiment designs and provide predictive insight into mechanically driven behaviors of epithelial dynamics.
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Affiliation(s)
| | - Toshi Parmar
- Department of Physics, University of California Santa Barbara, Santa Barbara, California 93106, USA
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5
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Wang Z, Zhou Z, Li CL, Liu XH, Zhang Y, Pei MM, Zhou Z, Cui DX, Hu D, Chen F, Cao WT. A Single Electronic Tattoo for Multisensory Integration. SMALL METHODS 2023; 7:e2201566. [PMID: 36811239 DOI: 10.1002/smtd.202201566] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/25/2022] [Revised: 01/05/2023] [Indexed: 06/18/2023]
Abstract
Wearable electronics are garnering growing interest in various emerging fields including intelligent sensors, artificial limbs, and human-machine interfaces. A remaining challenge is to develop multisensory devices that can conformally adhere to the skin even during dynamic-moving environments. Here, a single electronic tattoo (E-tattoo) based on a mixed-dimensional matrix network, which integrates two-dimensional MXene nanosheets and one-dimensional cellulose nanofibers/Ag nanowires, is presented for multisensory integration. The multidimensional configurations endow the E-tattoo with excellent multifunctional sensing capabilities including temperature, humidity, in-plane strain, proximity, and material identification. In addition, benefiting from the satisfactory rheology of hybrid inks, the E-tattoos are able to be fabricated through multiple facile strategies including direct writing, stamping, screen printing, and three-dimensional printing on various hard/soft substrates. Especially, the E-tattoo with excellent triboelectric properties also can serve as a power source for activating small electronic devices. It is believed that these skin-conformal E-tattoo systems can provide a promising platform for next-generation wearable and epidermal electronics.
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Affiliation(s)
- Zheng Wang
- Center for Orthopaedic Science and Translational Medicine, Department of Orthopaedics, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Yanchang Road, Shanghai, 200072, P.R. China
- School of Medicine, Anhui University of Science and Technology, Huainan, 232001, P. R. China
| | - Zhi Zhou
- Center for Orthopaedic Science and Translational Medicine, Department of Orthopaedics, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Yanchang Road, Shanghai, 200072, P.R. China
| | - Chen-Long Li
- School of Medicine, Anhui University of Science and Technology, Huainan, 232001, P. R. China
| | - Xiao-Hao Liu
- Center for Orthopaedic Science and Translational Medicine, Department of Orthopaedics, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Yanchang Road, Shanghai, 200072, P.R. China
| | - Yue Zhang
- Center for Orthopaedic Science and Translational Medicine, Department of Orthopaedics, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Yanchang Road, Shanghai, 200072, P.R. China
- School of Medicine, Anhui University of Science and Technology, Huainan, 232001, P. R. China
| | - Man-Man Pei
- Center for Orthopaedic Science and Translational Medicine, Department of Orthopaedics, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Yanchang Road, Shanghai, 200072, P.R. China
- School of Medicine, Anhui University of Science and Technology, Huainan, 232001, P. R. China
| | - Zheng Zhou
- School of Medicine, Anhui University of Science and Technology, Huainan, 232001, P. R. China
| | - Da-Xiang Cui
- Center for Orthopaedic Science and Translational Medicine, Department of Orthopaedics, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Yanchang Road, Shanghai, 200072, P.R. China
- National Engineering Research Center for Nanotechnology, Shanghai, 200241, P. R. China
| | - Dong Hu
- School of Medicine, Anhui University of Science and Technology, Huainan, 232001, P. R. China
| | - Feng Chen
- Center for Orthopaedic Science and Translational Medicine, Department of Orthopaedics, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Yanchang Road, Shanghai, 200072, P.R. China
- National Engineering Research Center for Nanotechnology, Shanghai, 200241, P. R. China
| | - Wen-Tao Cao
- Center for Orthopaedic Science and Translational Medicine, Department of Orthopaedics, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, 301 Yanchang Road, Shanghai, 200072, P.R. China
- National Engineering Research Center for Nanotechnology, Shanghai, 200241, P. R. China
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6
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Wei J, Li R, Li L, Wang W, Chen T. Touch-Responsive Hydrogel for Biomimetic Flytrap-Like Soft Actuator. NANO-MICRO LETTERS 2022; 14:182. [PMID: 36063236 PMCID: PMC9445118 DOI: 10.1007/s40820-022-00931-4] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/10/2022] [Accepted: 07/29/2022] [Indexed: 05/07/2023]
Abstract
Stimuli-responsive hydrogel is regarded as one of the most promising smart soft materials for the next-generation advanced technologies and intelligence robots, but the limited variety of stimulus has become a non-negligible issue restricting its further development. Herein, we develop a new stimulus of "touch" (i.e., spatial contact with foreign object) for smart materials and propose a flytrap-inspired touch-responsive polymeric hydrogel based on supersaturated salt solution, exhibiting multiple responsive behaviors in crystallization, heat releasing, and electric signal under touch stimulation. Furthermore, utilizing flytrap-like cascade response strategy, a soft actuator with touch-responsive actuation is fabricated by employing the touch-responsive hydrogel and the thermo-responsive hydrogel. This investigation provides a facile and versatile strategy to design touch-responsive smart materials, enabling a profound potential application in intelligence areas.
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Affiliation(s)
- Junjie Wei
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, People's Republic of China.
- School of Chemical Sciences, University of Chinese Academy of Sciences, Beijing, 100049, People's Republic of China.
| | - Rui Li
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, People's Republic of China
- School of Chemical Sciences, University of Chinese Academy of Sciences, Beijing, 100049, People's Republic of China
- School of Materials Science and Chemical Engineering, Ningbo University, Ningbo, 315211, People's Republic of China
| | - Long Li
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, People's Republic of China
- School of Chemical Sciences, University of Chinese Academy of Sciences, Beijing, 100049, People's Republic of China
- School of Materials Science and Chemical Engineering, Ningbo University, Ningbo, 315211, People's Republic of China
| | - Wenqin Wang
- School of Materials Science and Chemical Engineering, Ningbo University, Ningbo, 315211, People's Republic of China
| | - Tao Chen
- Key Laboratory of Marine Materials and Related Technologies, Zhejiang Key Laboratory of Marine Materials and Protective Technologies, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, People's Republic of China.
- School of Chemical Sciences, University of Chinese Academy of Sciences, Beijing, 100049, People's Republic of China.
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7
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Gao C, Li Z, Zou J, Cheng J, Jiang K, Liu C, Gu G, Tao W, Song J. Mechanical Effect on Gene Transfection Based on Dielectric Elastomer Actuator. ACS APPLIED BIO MATERIALS 2020; 3:2617-2625. [PMID: 35025395 DOI: 10.1021/acsabm.9b01199] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/27/2022]
Abstract
Gene transfection has been widely applied in genome function and gene therapy. Although many efforts have been focused on designing carrier materials and transfection methods, the influence of mechanical stimulation on gene transfection efficiency has rarely been studied. Herein, dielectric elastomer actuator (DEA)-based stimulation bioreactors are designed to generate tensile and contractile stress on cells simultaneously. With the example of the EGFP transfection, cells with high membrane tension in the stretching stimulation regions had lower transfection efficiency, while the transfection efficiency of cells in the compressing regions tended to increase. Besides, the duty cycle and loading frequency of the applied stress on cells were also important factors that affect gene transfection efficiency. Furthermore, the pathways of cell endocytosis with the effect of mechanical stimulation were explored on the mechanism for the change of EGFP transfection efficiency. This design of the DEA-based bioreactor, as a strategy to study gene transfection efficiency, could be helpful for developing efficient transfection methods.
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Affiliation(s)
- Chao Gao
- Institute of Nano Biomedicine and Engineering, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Zhichao Li
- Institute of Nano Biomedicine and Engineering, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Jiang Zou
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Jin Cheng
- Institute of Nano Biomedicine and Engineering, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Kai Jiang
- Institute of Nano Biomedicine and Engineering, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Changrun Liu
- Institute of Nano Biomedicine and Engineering, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Guoying Gu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Wei Tao
- Institute of Nano Biomedicine and Engineering, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
| | - Jie Song
- Institute of Nano Biomedicine and Engineering, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China.,Institute of Cancer and Basic Medicine (ICBM), Chinese Academy of Sciences; The Cancer Hospital of the University of Chinese Academy of Sciences, Hangzhou, Zhejiang 310022, People's Republic of China
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8
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Dow LP, Khankhel AH, Abram J, Valentine MT. 3D-printable cell crowding device enables imaging of live cells in compression. Biotechniques 2020; 68:275-278. [PMID: 32096656 DOI: 10.2144/btn-2019-0160] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/23/2022] Open
Abstract
We designed and fabricated, using low-cost 3D printing technologies, a device that enables direct control of cell density in epithelial monolayers. The device operates by varying the tension of a silicone substrate upon which the cells are adhered. Multiple devices can be manufactured easily and placed in any standard incubator. This allows long-term culturing of cells on pretensioned substrates until the user decreases the tension, thereby inducing compressive forces in plane and subsequent instantaneous cell crowding. Moreover, the low-profile device is completely portable and can be mounted directly onto an inverted optical microscope. This enables visualization of the morphology and dynamics of living cells in stretched or compressed conditions using a wide range of high-resolution microscopy techniques.
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Affiliation(s)
- Liam P Dow
- Biomolecular Science & Engineering Program, University of California, Santa Barbara, CA 93106, USA
| | - Aimal H Khankhel
- Biomolecular Science & Engineering Program, University of California, Santa Barbara, CA 93106, USA
| | - John Abram
- Department of Mechanical Engineering, University of California, Santa Barbara, CA 93106, USA
| | - Megan T Valentine
- Department of Mechanical Engineering, University of California, Santa Barbara, CA 93106, USA
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